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[Submitted on 9 Sep 2026] Title:Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics View a PDF of the paper titled Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics, by Yucheng Tao and 10 other authors View PDF HTML (experimental) Abstract:Achieving biological-level running speeds has largely been pursued through advances in control algorithms, which improve the utilization of existing hardware. However, the ultimate speed limits remain governed by the underlying force and torque requirements of rapid locomotion, which are typically addressed through increased actuator capacity. Inspired by Huygens' coupled pendulums, we demonstrate that superior locomotion can emerge from principled exploitation of intrinsic dynamics rather than brute-force hardware scaling. Inter-limb inertial coupling redistributes energy across the gait cycle and reduces peak joint torque required for rapid periodic motion, thereby expanding the achievable speed without proportional increases in actuator capability. Incorporating hardware parameters as additional design variables further extends this analysis into a co-optimization framework, enabling the systematic utilization of inertial coupling in robot design. Guided by this framework, a quadruped robot achieves a running speed of 10.74 m/s (Froude number 21.4) and completes a 100-meter sprint in 12.2 seconds, representing the first legged robot to surpass 10 m/s. These results establish inertial coupling as an underlying mechanism governing high-speed legged locomotion and highlight its role in reducing force requirements, offering new insights into the design of agile robotic systems. Subjects: Robotics (cs.RO) Cite as: arXiv:2609.13290 [cs.RO] (or arXiv:2609.13290v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.13290 arXiv-issued DOI via DataCite (pending registration) Submission history From: Yucheng Tao [view email] [v1] Wed, 9 Sep 2026 10:58:20 UTC (15,178 KB) Full-text links: Access Paper: View a PDF of the paper titled Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics, by Yucheng Tao and 10 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)